Method and apparatus for controlling a tray changer incorporated in a robot control system

• US 20040093120A1
• Filed: 11/12/2002
• Published: 05/13/2004
• Est. Priority Date: 09/03/2001
• Status: Active Grant

• Current Assignee: Denso Wave Inc (DENSO Corporation), Kanto Seiki Company Limited
• Original Assignee: Denso Wave Inc (DENSO Corporation), Kanto Seiki Company Limited
• Inventors: Hashizume, Masahiko, Ebisawa, Kyouichi
• Granted Patent: US 6,895,306 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: G05B 19/4182 manipulators and conveyor only
• CPC Class Codes: G05B 2219/39173 Dynamic interaction between vehicle and manipulator
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A control circuit of a tray changer is interfaced with a control circuit of a robot. A tray changer control program, used for operating the tray changer, is loaded into the robot control system. The robot control system itself, or an operator manipulating an operating terminal of the robot, controls or operates the tray changer according to the tray changer control program loaded in the robot control system.

Claims

1. A method for controlling a tray changer incorporated in a robot control system, comprising:

a step of interfacing a control circuit of said tray changer with a control circuit of a robot;

a step of loading a tray changer control program into the robot control system, said tray changer control program being used for operating said tray changer; and

a step of causing said robot control system or an operating terminal of the robot to control or operate said tray changer according to said tray changer control program.

2. The method for controlling the tray changer incorporated in the robot control system in accordance with claim 1, wherein

said tray changer control program includes an implementation of automatic carry in-and-out processing performed by said tray changer as well as an implementation of manual carry in-and-out operation processing performed by said tray changer, and

the control method further comprises:

a step of inhibiting said automatic carry in-and-out processing performed by said tray changer when a manual operation mode of said tray changer is selected; and

a step of inhibiting said manual carry in-and-out processing performed by said tray changer when an automatic operation mode of said tray changer is selected.

3. The method for controlling the tray changer incorporated in the robot control system in accordance with claim 2, further comprising:

a step of allowing an operator of said tray changer to select said manual operation mode or said automatic operation mode of said tray changer through an operating terminal of said robot or through an external operation device, thereby allowing said tray changer to perform said manual carry in-and-out processing when said manual operation mode is selected and perform said automatic carry in-and-out processing when said automatic operation mode is selected.

4. The method for controlling the tray changer incorporated in the robot control system in accordance with claim 1, wherein

said step of causing said robot control system or the operating terminal of the robot to control or operate said tray changer according to said tray changer control program is feasible for simultaneously controlling or operating a plurality of tray changers.

5. An apparatus for controlling a tray changer incorporated in a robot control system, comprising:

a robot actuator for driving a robot;

a robot control program memory for storing a robot control program to be loaded into said robot control system;

an operating terminal for allowing an operator to operate said robot control system;

a central control unit for performing an overall control of said robot control system;

a tray changer actuator incorporated into said robot control system for driving said tray changer; and

a tray changer control program memory incorporated into said robot control system for storing a tray changer control program of said tray changer actuator,

wherein said tray changer actuator is controllable through said operating terminal or through an external operating terminal via said central control unit.

6. The apparatus for controlling the tray changer incorporated in the robot control system in accordance with claim 5, wherein

said tray changer control program memory stores a program of automatic carry in-and-out processing performed by said tray changer as well as a program of manual carry in-and-out processing performed by said tray changer,

said central control unit inhibits said automatic carry in-and-out processing performed by said tray changer when a manual operation mode of said tray changer is selected;

and

said central control unit inhibits said manual carry in-and-out processing performed by said tray changer when an automatic operation mode of said tray changer is selected.